Complexes 31 and 32 were built between July 1959 and July 1960 to support the Air Force's Minuteman missile program. Each complex had one blockhouse and two launch pads. The two "A" pads were constructed as conventional flat pads, and the two "B" pads were built as ballistic missile silos. The sites were modified subsequently to support later versions of the Minuteman missile. Pad 31A supported the first Minuteman I launch on 1 February 1961. In all, 92 Minuteman I, II and III missiles were launched from the complexes between 1 February 1961 and 15 December 1970. In 1973, Pad 31A was used briefly for the Army's Pershing 1A follow-on testing program. Batteries of the 84th and 41st Field Artillery, U.S, Seventh Army, fired 12 Pershing 1As in February and March 1973.

At 1059 EST, the first Minuteman research and development flight test missile (FTM 401) was launched by the 6555th Test Wing from Pad 31 at the Atlantic Missile Range. All the missiles stages and subsystems were operational, marking the first time that the first flight test missile was launched with all systems and stages functioning. FTM 401 completed a 4,600-mile flight, and its reentry vehicle impacted in the designated target area. This was the most successful first flight recorded in the history of U.S. missile development.